49 lines
1.4 KiB
C++
49 lines
1.4 KiB
C++
#include <pangolin/pangolin.h>
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int main( int /*argc*/, char** /*argv*/ )
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{
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static const int w = 640;
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static const int h = 480;
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pangolin::CreateWindowAndBind("Main",w,h,pangolin::Params({{"scheme", "headless"}}));
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glEnable(GL_DEPTH_TEST);
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// Define Projection and initial ModelView matrix
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pangolin::OpenGlRenderState s_cam(
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pangolin::ProjectionMatrix(w,h,420,420,320,240,0.2,100),
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pangolin::ModelViewLookAt(-2,2,-2, 0,0,0, pangolin::AxisY)
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);
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// Create Interactive View in window
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pangolin::Handler3D handler(s_cam);
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pangolin::View& d_cam = pangolin::CreateDisplay()
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.SetBounds(0.0, 1.0, 0.0, 1.0, -float(w)/float(h))
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.SetHandler(&handler);
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pangolin::SaveWindowOnRender("window");
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// create a frame buffer object with colour and depth buffer
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pangolin::GlTexture color_buffer(w,h);
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pangolin::GlRenderBuffer depth_buffer(w,h);
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pangolin::GlFramebuffer fbo_buffer(color_buffer, depth_buffer);
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fbo_buffer.Bind();
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// Clear screen and activate view to render into
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glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
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d_cam.Activate(s_cam);
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// Render OpenGL Cube
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pangolin::glDrawColouredCube();
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// Swap frames and Process Events
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pangolin::FinishFrame();
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fbo_buffer.Unbind();
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// download and save the colour buffer
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color_buffer.Save("fbo.png", false);
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pangolin::QuitAll();
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return 0;
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}
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